穿梭车redis存储前缀

Junjie

2023-05-10 d5d7f24188f19f5d5c50f1d2e5cd6e49ba61edcc

 src/main/java/com/zy/core/thread/ShuttleThread.java

@@ -8,9 +8,11 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
@@ -27,8 +29,8 @@
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -36,7 +38,6 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -177,25 +178,36 @@

                if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
                    //出现错误
                    reset(shuttleProtocol.getAssignCommand());
                    resetAndTryFix(shuttleProtocol.getTaskNo());
                }

                if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getAssignCommand() != null){
                        && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){
                    //处于故障修复状态
                    //执行下一步指令
                    executeWork(shuttleProtocol.getAssignCommand());
                    executeWork(shuttleProtocol.getTaskNo());
                }

                //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getPakMk()
                        && shuttleProtocol.getAssignCommand() != null) {
                        && shuttleProtocol.getPakMk()) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getAssignCommand());
                    executeWork(shuttleProtocol.getTaskNo());
                }

                //检测是否有提升机锁定标记，有则检测提升机是否到位，是否能走下一步命令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0) {
                    Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
                    if (o != null) {
                        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
                        if (redisCommand.getLiftSecurityMk()) {
                            //执行下一步指令
                            executeWork(shuttleProtocol.getTaskNo());
                        }
                    }
                }

                //将四向穿梭车状态保存至数据库
@@ -271,6 +283,18 @@
            return false;
        }

        BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
        if (shuttleService == null) {
            News.error("系统错误");
            return false;
        }

        BasShuttle basShuttle = shuttleService.selectById(slave.getId().shortValue());
        if (basShuttle == null) {
            News.error("四向穿梭车不存在");
            return false;
        }

        command.setShuttleNo(slave.getId().shortValue());
        // 开始任务
        short[] array = new short[17];
@@ -305,6 +329,7 @@
            array[7] = middleToDistDistances[1];
        }

        array[8] = basShuttle.getRunSpeed().shortValue();//四向穿梭车运行速度，从系统数据库读出
        if (command.getRunDirection() != null) {
            //小车运行方向
            array[8] = command.getRunDirection();
@@ -368,8 +393,6 @@

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();
        if (!assignCommand.getAuto()) {
            List<ShuttleCommand> commands = new ArrayList<>();
            ShuttleCommand command = new ShuttleCommand();
@@ -605,42 +628,42 @@
            assignCommand.setCommands(commands);
        }

        //四向穿梭车号
        map.put("shuttle_no", assignCommand.getShuttleNo());
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
        map.put("commandStep", 0);
        //命令
        map.put("assignCommand", assignCommand);
        //发生错误时尝试执行的指令，优先级最高
        map.put("errorCommands", new ArrayList<ShuttleCommand>());
        ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
        redisCommand.setShuttleNo(assignCommand.getShuttleNo());//四向穿梭车号
        redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
        redisCommand.setCommandStep(0);//命令执行步序
        redisCommand.setAssignCommand(assignCommand);//命令
        redisCommand.setErrorCommands(new ArrayList<ShuttleCommand>());//发生错误时尝试执行的指令，优先级最高
        shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
        shuttleProtocol.setAssignCommand(assignCommand);
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        redisUtil.set("shuttle_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        //执行下发任务
        executeWork(assignCommand);
        executeWork(assignCommand.getTaskNo());
    }

    //执行下发的指令
    private boolean executeWork(ShuttleAssignCommand assignCommand) {
    private boolean executeWork(Short wrkNo) {
        //读取redis数据
        if (assignCommand == null) {
        if (wrkNo == null) {
            return false;
        }

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);

        if (!checkLiftStation(wrkNo)) {//检测是否有提升机站点，有则调度提升机
            return false;
        }

        //将标记置为false(防止重发)
        shuttleProtocol.setPakMk(false);

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        if (o == null) {
            return false;
        }
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);

        List<ShuttleCommand> errorCommands =  JSON.parseArray(map.get("errorCommands").toString(),ShuttleCommand.class);
        List<ShuttleCommand> errorCommands = redisCommand.getErrorCommands();
        if (errorCommands.size() > 0) {
            //优先执行该指令
            ShuttleCommand errorCommand = errorCommands.get(0);//取出指令
@@ -652,15 +675,15 @@
                if (shuttleProtocol.getCurrentCode().equals(errorCommand.getStartCodeNum())) {
                    //起点和终点属于同一库位，无需再执行移动操作
                    errorCommands.remove(0);//移除该命令
                    map.put("errorCommands", new ArrayList<ShuttleCommand>());
                    redisCommand.setErrorCommands(new ArrayList<ShuttleCommand>());
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
                    //当前步序
                    int commandStep = Integer.parseInt(map.get("commandStep").toString());
                    int commandStep = redisCommand.getCommandStep();
                    //步序回退
                    commandStep--;
                    map.put("commandStep", commandStep);
                    redisCommand.setCommandStep(commandStep);
                    //任务数据保存到redis
                    redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
                    redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
                    shuttleProtocol.setPakMk(true);
                    return true;
                }else {
@@ -694,10 +717,10 @@

                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
                //当前步序
                int commandStep = Integer.parseInt(map.get("commandStep").toString());
                int commandStep = redisCommand.getCommandStep();
                //步序回退
                commandStep--;
                map.put("commandStep", commandStep);
                redisCommand.setCommandStep(commandStep);
            }

            if (!write(errorCommand)) {
@@ -706,18 +729,19 @@
            } else {
                News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(errorCommand));
                errorCommands.remove(0);
                map.put("errorCommands", errorCommands);
                redisCommand.setErrorCommands(errorCommands);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
                redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
                return true;
            }
        }

        List<ShuttleCommand> commands = assignCommand.getCommands();
        List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        int commandStep = redisCommand.getCommandStep();
        //path路径数目
        int size = commands.size();
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();

        //取出命令
        ShuttleCommand command = commands.get(commandStep);
@@ -743,9 +767,9 @@
                //更新redis数据
                //步序增加
                commandStep++;
                map.put("commandStep", commandStep);
                redisCommand.setCommandStep(commandStep);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
                redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            }else {
                //已执行完成
                //保存数据到数据库做流水
@@ -765,21 +789,27 @@
                    );
                    shuttleOptService.insert(opt);
                }

                if (redisCommand.getLiftSecurityMk()) {
                    //曾锁定过提升机，需要进行解锁
                    LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
                    LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                    if (liftProtocol != null) {
                        liftProtocol.setSecurityMk(false);
                    }
                }

                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());

                if (!assignCommand.getAuto()) {
                    //手动模式不抛出等待状态，直接复位
                    if (assignCommand.getTaskMode() == 9) {
                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        //任务号清零
                        shuttleProtocol.setTaskNo((short) 0);
                        //标记复位
                        shuttleProtocol.setPakMk(true);
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                    }
                    //设置四向穿梭车为空闲状态
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    //任务号清零
                    shuttleProtocol.setTaskNo((short) 0);
                    //标记复位
                    shuttleProtocol.setPakMk(true);
                    News.info("四向穿梭车手动任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }else {
                    if (!assignCommand.getCharge()) {
@@ -798,23 +828,143 @@
    }

    /**
     * 复位并尝试修复错误
     * 检测是否有提升机站点，有则调度提升机
     */
    private boolean reset(ShuttleAssignCommand assignCommand) {
    private boolean checkLiftStation(Short wrkNo) {
        //读取redis数据
        if (assignCommand == null) {
        if (wrkNo == null) {
            return false;
        }

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        //当前步序
        int commandStep = redisCommand.getCommandStep();

        //检测是否存在提升机口的指令
        List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
        BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
        ArrayList<Short> qrCodeValues = new ArrayList<>();
        for (BasDevp basDevp : basDevpService.selectList(null)) {
            //将所有提升机口二维码存入list
            qrCodeValues.add(Short.parseShort(basDevp.getQrCodeValue()));
        }

        //遍历所有指令，判断是否有到提升机口的指令，并获取到达该提升机口所需步序
        int step = 0;
        ShuttleCommand command = null;
        for (int i = 1; i < commands.size(); i++) {
            command = commands.get(i);
            if (qrCodeValues.contains(command.getDistCodeNum())) {
                //存在
                step = i + 1;
                break;
            }
        }

        if (step == 0) {
            //无需后续检测，直接放行
            return true;
        }

        //判断下一步是否为提升机口
        if (commandStep + 1 != step) {
            //下一步不是提升机口，跳过后续流程
            return true;
        }

        //拿到提升机线程
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        if (liftThread == null) {
            return false;
        }
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
        if (liftProtocol == null) {
            return false;
        }

        //获取四向穿梭车当前楼层
        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
        Integer shuttleLocNoLev = Integer.parseInt(shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length()));//库位号对应层高

        //程序走到这，表示提升机可能一直就在当前层，可能经过了移动到达了该层
        if (liftProtocol.getProtocolStatusType() == LiftProtocolStatusType.WAITING) {
            //提升机等待确认
            //设置提升机为空闲状态
            liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
            //任务号清零
            liftProtocol.setTaskNo((short) 0);
            //标记复位
            liftProtocol.setPakMk(true);
            //任务指令清零
            liftProtocol.setAssignCommand(null);
            //提升机解锁
            liftProtocol.setLiftLock(false);
        }

        //判断提升机是否在目标楼层
        if (liftProtocol.getLev().intValue() == shuttleLocNoLev) {
            //同一层，直接放行
            return true;
        }

        //提升机和穿梭车处于不同楼层，需要进行调度
        if (!liftProtocol.isIdle()) {
            //提升机不是空闲
            return false;
        }

        //给提升机分配任务
        liftProtocol.setLiftLock(true);//锁定提升机
        liftProtocol.setTaskNo(shuttleProtocol.getTaskNo());//设置任务号
        liftProtocol.setShuttleNo(shuttleProtocol.getShuttleNo());//设置四向穿梭车号
        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
        liftProtocol.setSecurityMk(true);//标记置为true，防止其他任务占用当前提升机
        redisCommand.setLiftSecurityMk(true);//标记置为true，防止其他任务占用当前提升机
        //任务数据保存到redis
        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));

        //命令list
        ArrayList<LiftCommand> liftCommands = new ArrayList<>();
        LiftCommand liftCommand = new LiftCommand();
        liftCommand.setLiftNo(liftProtocol.getLiftNo());//提升机号
        liftCommand.setTaskNo(liftProtocol.getTaskNo());//任务号
        liftCommand.setRun((short) 1);//升降
        liftCommand.setDistPosition(shuttleLocNoLev.shortValue());//目标楼层(穿梭车所在楼层)
        liftCommand.setLiftLock(true);//锁定提升机
        liftCommands.add(liftCommand);//将命令添加进list

        LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
        liftAssignCommand.setCommands(liftCommands);
        liftAssignCommand.setLiftNo(liftProtocol.getLiftNo());
        liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
        //下发任务
        MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));

        return false;
    }

    /**
     * 复位并尝试修复错误
     */
    private boolean resetAndTryFix(Short wrkNo) {
        //读取redis数据
        if (wrkNo == null) {
            return false;
        }

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }

        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        List<ShuttleCommand> commands = assignCommand.getCommands();
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        int commandStep = redisCommand.getCommandStep();
        //path路径数目
        int size = commands.size();

@@ -875,9 +1025,9 @@
        moveCommand.setStartCodeNum(command.getStartCodeNum());//存入目标库位号
        list.add(moveCommand);

        map.put("errorCommands", list);
        redisCommand.setErrorCommands(list);
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);
        return true;
    }